form1.frm

这个是用Visual Basic写的一个机器人程序

      Caption         =   "Option1"
      Height          =   405
      Left            =   -840
      TabIndex        =   2
      Top             =   4080
      Width           =   795
   End
   Begin VB.PictureBox VDot 
      AutoRedraw      =   -1  'True
      AutoSize        =   -1  'True
      BackColor       =   &H80000009&
      BorderStyle     =   0  'None
      Height          =   75
      Left            =   1200
      Picture         =   "Form1.frx":555E
      ScaleHeight     =   75
      ScaleWidth      =   75
      TabIndex        =   1
      Top             =   7200
      Visible         =   0   'False
      Width           =   75
   End
   Begin VB.PictureBox Main 
      Align           =   1  'Align Top
      Appearance      =   0  'Flat
      AutoRedraw      =   -1  'True
      BackColor       =   &H00000000&
      BorderStyle     =   0  'None
      ForeColor       =   &H80000008&
      Height          =   5115
      Left            =   0
      ScaleHeight     =   341
      ScaleMode       =   3  'Pixel
      ScaleWidth      =   640
      TabIndex        =   0
      Top             =   0
      Width           =   9600
   End
   Begin MSComDlg.CommonDialog Cmd1 
      Left            =   900
      Top             =   690
      _ExtentX        =   847
      _ExtentY        =   847
      _Version        =   393216
      Filter          =   "*.botz|Bot Files|*.*|All Files"
   End
   Begin VB.Menu mnufile 
      Caption         =   "&File"
      Begin VB.Menu mnuNew 
         Caption         =   "&New"
         Shortcut        =   ^N
      End
      Begin VB.Menu mnuOpen 
         Caption         =   "&Open..."
         Shortcut        =   ^O
      End
      Begin VB.Menu mnuSave 
         Caption         =   "&Save"
         Shortcut        =   ^S
      End
      Begin VB.Menu mnuSaveAs 
         Caption         =   "Save &As..."
         Shortcut        =   ^A
      End
      Begin VB.Menu mnudash 
         Caption         =   "-"
      End
      Begin VB.Menu mnuExit 
         Caption         =   "E&xit"
      End
   End
   Begin VB.Menu mnuOpt 
      Caption         =   "&Options"
      Begin VB.Menu mnuglobal 
         Caption         =   "Set Global Variables"
         Shortcut        =   ^G
      End
      Begin VB.Menu mnuAutoRev 
         Caption         =   "Auto Reverse"
         Checked         =   -1  'True
      End
   End
   Begin VB.Menu mnuView 
      Caption         =   "&View"
      Begin VB.Menu mnuVert 
         Caption         =   "&Vertices"
         Checked         =   -1  'True
      End
      Begin VB.Menu mnuLink 
         Caption         =   "&Links"
         Checked         =   -1  'True
      End
      Begin VB.Menu mnuhandl 
         Caption         =   "&Link Handles"
      End
      Begin VB.Menu line2 
         Caption         =   "-"
      End
      Begin VB.Menu fs 
         Caption         =   "Full Screen"
         Shortcut        =   {F11}
      End
   End
   Begin VB.Menu mnusel 
      Caption         =   "Vertex"
      Begin VB.Menu mnuVertexDelete 
         Caption         =   "Delete Vertex"
      End
      Begin VB.Menu mnudash2 
         Caption         =   "-"
      End
      Begin VB.Menu mnuVertexAddwheel 
         Caption         =   "Add Wheel..."
         Shortcut        =   ^W
      End
      Begin VB.Menu mnuVertexDeleteWheel 
         Caption         =   "Delete Wheel"
      End
   End
   Begin VB.Menu mnulinkthing 
      Caption         =   "Link"
      Begin VB.Menu mnuLinkDelete 
         Caption         =   "Delete Link                Del"
      End
      Begin VB.Menu mnudash1 
         Caption         =   "-"
      End
      Begin VB.Menu mnuLinkLengthReset 
         Caption         =   "Reset Link Length"
      End
      Begin VB.Menu mnuDeleteMuscle 
         Caption         =   "Delete Muscle"
      End
   End
   Begin VB.Menu mnuMode 
      Caption         =   "&Mode"
      Begin VB.Menu mnuConstruct 
         Caption         =   "Construct"
         Shortcut        =   {F2}
      End
      Begin VB.Menu mnuSimulate 
         Caption         =   "Simulate"
         Shortcut        =   {F3}
      End
   End
End
Attribute VB_Name = "Form1"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
'--------------------------------------------------------------------------
'
'                                  Botz 1.00
'
' I've done everything I can to make this code readable and understandable.
' Just about every procedure is thoroughly commented, and divided into
' nice, manageable segments to help with comprehension.
'
' Note: When the program is running, everything on the screen is flipped.
'       That way, the 'floor' is at y-coordinate 0.  VB usually has the
'       top of an object as y=0.  However I found that made things harder
'       as I kept having to remember to reverse anything that was vertical.
'
'       Anyways the point is that if you fiddle with the physics cycle,
'       remember that y=0 is the floor, not the ceiling.
'
'
' You can do whatever you want to this code for non-commercial purposes.
' If you want to use some of this code for another project please let me
' know, and give me a little recognition.
'
' If you make improvements to this code please let me know so I can
' include it in future releases.
'
' If you need to contact me, my email addy is [e-mail]
' No bug reports unless the bug is important and can be replicated
'--------------------------------------------------------------------------




Dim vertex(200) As vertex_type
Const MaxVertices As Integer = 200
Const pi As Double = 3.14159265358979
'The maximum number of vertexes is 300, after 300 no more may be added
'By changing the dimensions of vertex and the value of MaxVertexs, you
'can change the maximum

Dim Link(200) As link_type
Const MaxLinks As Integer = 200
'The maximum number of links is also 300.

Dim MouseX, MouseY As Single
'Keep track of the mouse position on the main board.

Dim VertexCount As Integer
Dim LinkCount As Integer
'Keep track of how many links and vertices there are



Dim CycleTime As Integer
Const CycleSize As Integer = 200
Dim ClockPause As Boolean
'CycleTime - the current place in the muscle cycle
'CycleSize - the amount that the value of cycletime must reach before
'            wrapping around.
'ClockPause - whether the muscle cycle is paused
'ClockSpeed - how fast the muscle cycle goes per turn
'             --Defined in Declares.bas


Dim FS_Mode As Boolean 'Full screen mode
Dim mode As Byte
Dim SubMode As Byte
Dim SubModeData As Integer
'Mode 0 = Construction Mode
'Mode 1 = Simulation Mode
'SubMode 0 = Nothing.  If in mode 0, ready to create a vertex.
'SubMode 1 = Creating a link
'SubMode 2 = Dragging a Vertex
'SubMode 4 = Link is selected
'SubModeData = Whatever needed data is relevant to the current submode
'              eg. in SubMode 1, the location of the vertex to start
'                  the link from.


Dim SelVertex
Dim SelLink
Dim HoverVertex
Dim HoverLink As Integer
Dim DragDot As Integer
'Sel* - number of the vertex or link that is currently selected.
'       (if any) 0 = none
'Hover* - The number of the vertex or link that the mouse is currently
'         over (if any) 0 = none
'DragDot - which vertex is being dragged

Dim BoardX As Integer 'width
Dim BoardY As Integer 'height
Dim RightWall As Single
Dim Ceiling As Single
'These are the dimensions of the "playing field"

Dim AutoReverseCycle As Integer

Dim DrawColor, BGColor As Long
Dim CurrentPhase As Byte














Function AddLink(id1, id2) As Boolean

'This Subroutine adds a link between two vertices.
'The link will push or pull them to keep them at the same distance
'They were at when the link was created.
'This action is what makes it possible to make objects to stand up.

If id1 = id2 Then AddLink = False: Exit Function 'you can't link a vertex to itself



'Check to see if this link exists already  --------------------------
For i = 1 To MaxLinks
  With Link(i)
  If .used = True Then
    If .target1_id = id1 And .target2_id = id2 Then AddLink = False: Exit Function
    If .target1_id = id2 And .target2_id = id1 Then AddLink = False: Exit Function
  End If
  End With
If id1 = id2 Then AddLink = False: Exit Function 'you can't link a vertex to itself

Next i
'--------------------------------------------------------------------







'Make the link-------------------------------------------------------
Dim CurLink As Integer
Dim XLen, YLen, Leng As Single

For i = 1 To 300                   'Find a link number that is
  If Link(i).used = False Then     'not being used.  And use
     CurLink = i                   'Curlink'
     Exit For
  End If
Next i

With Link(CurLink)
    .target1_id = id1 'Each Target_id is the number of one of the
    .target2_id = id2 'vertices the link is attached to.
    
    XLen = (vertex(.target2_id).X - vertex(.target1_id).X)
    YLen = (vertex(.target2_id).y - vertex(.target1_id).y)
    Leng = Sqr(Abs(XLen ^ 2 + YLen ^ 2))
            'Calculate length.
    
    .linklength = Leng
    .used = True
    .midx = vertex(.target2_id).X + ((vertex(.target1_id).X - vertex(.target2_id).X) / 2)
    .midy = vertex(.target2_id).y + ((vertex(.target1_id).y - vertex(.target2_id).y) / 2)
    .linktension = Tension
    .pushstrength = 0
    .pushtiming = 180
    .pushspan = 40
    .phase = CurrentPhase
End With

LinkCount = LinkCount + 1  'Count the new link.
AddLink = True             'Hey it worked.
'--------------------------------------------------------------------

End Function

Function AddLink2(id1, id2, Leng, Tens, pspan, pushr, stren, lastlen, timing, phase As Variant) As Boolean



'This Function is just like AddLink but it has more parameters.
'The extra parameters are needed when loading from a file.
'See Addlink for comments and explanations


If id1 = id2 Then AddLink2 = False: Exit Function
Dim CurLink As Integer
For i = 1 To 300
  If Link(i).used = False Then
     CurLink = i
     Exit For
  End If
Next i
LinkCount = LinkCount + 1

With Link(CurLink)
    .target1_id = id1
    .target2_id = id2
    .linklength = Leng
    .used = True
    .linktension = Tens
    .midx = vertex(.target2_id).X + ((vertex(.target1_id).X - vertex(.target2_id).X) / 2)
    .midy = vertex(.target2_id).y + ((vertex(.target1_id).y - vertex(.target2_id).y) / 2)
    .pushspan = pspan
    .Push = pushr
    .pushstrength = stren
    .pushtiming = timing
    .lastlen = lastlen
    .phase = phase
    '.Phase = 1
End With
AddLink2 = True


End Function




Function AddVertex(X, y, MomentX, MomentY, Radius, MomentC, Optional phase As Variant) As Integer


'MsgBox Phase
If phase = "" Then phase = 1



'This Subroutine adds a vertex.

'Find a vertex number thats not taken ------------------------------
    For i = 1 To MaxVertices
     If vertex(i).used = False Then
        currentvertex = i
        Exit For
      End If
    Next i
'-------------------------------------------------------------------


'Make the Vertex ---------------------------------------------------
With vertex(currentvertex)

    .used = True
    .X = X
    .y = y
    .momentum_x = MomentX
    .momentum_y = MomentY
    .momentum_c = MomentC
    .heading = 0
    
    SelVertex = currentvertex      'When a vertex is created it
    VertexCount = VertexCount + 1  'is automatically selected
    .Selected = True
    
    If Radius > 0 Then             'For purposes of loading from
      .wheel = True                'a file.  By default a vertex
      .Radius = Radius             'has no wheel attached.
    Else
      .wheel = False
      .Radius = 0
    End If
    .phase = phase
End With
'-------------------------------------------------------------------

AddVertex = currentvertex   'return the number of the vertex

End Function


Sub AddWheel(vertx, Radius As Integer)

With vertex(vertx)
  .wheel = True
  .Radius = Radius
  .heading = 0 'the default heading is arbitrarily 0
End With

'This should be pretty straightforward

End Sub

Sub Cycle_Botz(delay As Single)